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<a name="top_of_page"></a><p style="font-size:1px;"></p>
 <h1 class="categorytitle"><a name="mpt">mpt</a></h1>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="150"><a href="mpt/mptopt.html">mptopt</a></td>
<td>
Global option handler for MPT.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/mpt_init.html">mpt_init</a></td>
<td>
Initializes MPT toolbox for the first time after installation.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/mptdoc.html">mptdoc</a></td>
<td>
Display documentation for Multi-Parametric Toolbox in Matlab help browser.           </td>
</tr>
<tr valign="top">
<td width="300"><h2><a href="#utils">utils</a></h2></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h2><a href="#modules">modules</a></h2></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h2><a href="#demos">demos</a></h2></td>
<td></td>
</tr>
</table>
<p></p>
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<h2 class="categorytitle"><a name="utils">utils</a></h2>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="150"><a href="mpt/utils/mpt_ineq2eq.html">mpt_ineq2eq</a></td>
<td>
Detects inequality constraints which form equalities           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/utils/mpt_scale_matrix.html">mpt_scale_matrix</a></td>
<td>
Scales matrix row-wise and column-wise           </td>
</tr>
<tr valign="top">
<td width="300"><h3><a href="#@IterableBehavior">@IterableBehavior</a></h3></td>
<td></td>
</tr>
</table>
<p></p>
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<h3 class="categorytitle"><a name="@IterableBehavior">@IterableBehavior</a></h3>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/utils/@IterableBehavior/foreach.html">foreach</a></td>
<td>
Applies a given function to each element of in an array of sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/utils/@IterableBehavior/iterablebehavior.html">iterablebehavior</a></td>
<td>
Basic class which provides forEach method to iterate over an array.           </td>
</tr>
</table>
<p></p>
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<h2 class="categorytitle"><a name="modules">modules</a></h2>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="300"><h3><a href="#geometry">geometry</a></h3></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h3><a href="#solvers">solvers</a></h3></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h3><a href="#ui">ui</a></h3></td>
<td></td>
</tr>
</table>
<p></p>
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<h3 class="categorytitle"><a name="geometry">geometry</a></h3>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="300"><h4><a href="#unions">unions</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#sets">sets</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#functions">functions</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="unions">unions</a></h4>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="300"><h4><a href="#@BinTreePolyUnion">@BinTreePolyUnion</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@Union">@Union</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@PolyUnion">@PolyUnion</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@BinTreePolyUnion">@BinTreePolyUnion</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2"><tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@BinTreePolyUnion/toc.html">toc</a></td>
<td>
Export of PWA/PWQ function to C-code           </td>
</tr></table>
<p></p>
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<h4 class="categorytitle"><a name="@Union">@Union</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/listfunctions.html">listfunctions</a></td>
<td>
Extract list of functions stored with the union.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/union.html">union</a></td>
<td>
Represents a general union of convex sets in MPT           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/hasfunction.html">hasfunction</a></td>
<td>
Returns true if the union contains given function names.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/contains.html">contains</a></td>
<td>
Test if a point is contained inside the union of convex sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/add.html">add</a></td>
<td>
Insert set to Union object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/display.html">display</a></td>
<td>
Overload display for Union class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/feval.html">feval</a></td>
<td>
Evaluates a given function defined over a union of convex sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/fplot.html">fplot</a></td>
<td>
Plot single function over the sets of the Union object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/vertcat.html">vertcat</a></td>
<td>
Vertical concatenation for union objecs.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/remove.html">remove</a></td>
<td>
Remove set from Union object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/horzcat.html">horzcat</a></td>
<td>
Horizontal concatenation for union objecs.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/removefunction.html">removefunction</a></td>
<td>
Remove function from all sets in the union based on the function name.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/removeallfunctions.html">removeallfunctions</a></td>
<td>
Remove all functions that are associated to this union of convex sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/getfunction.html">getfunction</a></td>
<td>
Extract function handle from the union of convex sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/copy.html">copy</a></td>
<td>
Create a copy of an object derived from the Union class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@Union/plot.html">plot</a></td>
<td>
Plot the union of convex sets.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@PolyUnion">@PolyUnion</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/le.html">le</a></td>
<td>
Test if a union of polyhedra is contained inside another union.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/outerapprox.html">outerapprox</a></td>
<td>
Computes outer bounding box for the union of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/isoverlapping.html">isoverlapping</a></td>
<td>
Test if the union of polyhedra contains overlaps.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/plus.html">plus</a></td>
<td>
Minkowski addition for union of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/merge.html">merge</a></td>
<td>
Greedy merging of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/join.html">join</a></td>
<td>
Merges arrays of polyunions to one polyunion object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/ge.html">ge</a></td>
<td>
Test if a union of polyhedra contains another union.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/minus.html">minus</a></td>
<td>
Pontryagin/Minkowski difference for union of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/contains.html">contains</a></td>
<td>
Test if a point is contained inside the union of polyhedra in the same dimension.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/add.html">add</a></td>
<td>
Insert Polyhedron to PolyUnion object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/display.html">display</a></td>
<td>
Overload display for PolyUnion class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/eq.html">eq</a></td>
<td>
Returns true if the set covered by unions of polyhedra U_1 is the same as the set covered by union U_2 and false otherwise.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/feval.html">feval</a></td>
<td>
Evaluates a given function defined over a union of polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/isbounded.html">isbounded</a></td>
<td>
Test if the union is built from bounded polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/locatepoint.html">locatepoint</a></td>
<td>
Implementation of a graph search algorithm for a point location problem.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/isfulldim.html">isfulldim</a></td>
<td>
Test if the union is built from full-dimensional polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/toc.html">toc</a></td>
<td>
Export of PWA/PWQ function to C-code           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/fplot.html">fplot</a></td>
<td>
Plot function over the union of polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/isconnected.html">isconnected</a></td>
<td>
Test if the union of polyhedra form a connected union.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/polyunion.html">polyunion</a></td>
<td>
Represents a union of polyhedra in the same dimension           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/convexhull.html">convexhull</a></td>
<td>
Computes the convex hull for union of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/reduce.html">reduce</a></td>
<td>
Reduces the overlapping union to minimal number of sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/removefunction.html">removefunction</a></td>
<td>
Remove function from all Polyhedra in the union based on the function name.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/removeallfunctions.html">removeallfunctions</a></td>
<td>
Remove all functions that are associated to this union of polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/getfunction.html">getfunction</a></td>
<td>
Extract function from PolyUnion object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/isconvex.html">isconvex</a></td>
<td>
Test if the union of polyhedra is convex.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/copy.html">copy</a></td>
<td>
Create a new copy of the PolyUnion object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/unions/@PolyUnion/plot.html">plot</a></td>
<td>
Plot the union of polyhedra.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="sets">sets</a></h4>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="300"><h4><a href="#@ConvexSet">@ConvexSet</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@YSet">@YSet</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@Polyhedron">@Polyhedron</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@ConvexSet">@ConvexSet</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/addfunction.html">addfunction</a></td>
<td>
Attach function to a convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/distance.html">distance</a></td>
<td>
Computes the closest distance between the convex set and given point.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/outerapprox.html">outerapprox</a></td>
<td>
Computes outer bounding box of the convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/separate.html">separate</a></td>
<td>
Computes separating hyperplane between the set and given point.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/listfunctions.html">listfunctions</a></td>
<td>
Shows functions attached to a convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/hasfunction.html">hasfunction</a></td>
<td>
Returns true if the set contains given function name.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/convexset.html">convexset</a></td>
<td>
Represets a convex set in MPT           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/fliplr.html">fliplr</a></td>
<td>
Revert the order of convex sets in the array.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/feval.html">feval</a></td>
<td>
Evaluates a function defined over a convex set or an array thereof.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/isbounded.html">isbounded</a></td>
<td>
Test if a convex set is bounded.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/grid.html">grid</a></td>
<td>
Grid the convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/fplot.html">fplot</a></td>
<td>
Plot a single function over a convex set or over an array of convex sets.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/vertcat.html">vertcat</a></td>
<td>
Vertical concatenation for convex set objecs.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/isemptyset.html">isemptyset</a></td>
<td>
Test if a convex set is empty.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/horzcat.html">horzcat</a></td>
<td>
Horizontal concatenation for convex set objecs.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/removefunction.html">removefunction</a></td>
<td>
Remove function associated to a convex set based on the function name.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/removeallfunctions.html">removeallfunctions</a></td>
<td>
Remove all functions that are associated to this set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/support.html">support</a></td>
<td>
Compute the support of the set in the specified direction.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/getfunction.html">getfunction</a></td>
<td>
Extract function handle from a convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/affinehull.html">affinehull</a></td>
<td>
Computes affine hull of a convex set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/copy.html">copy</a></td>
<td>
Create a copy of an object derived from the ConvexSet class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@ConvexSet/plot.html">plot</a></td>
<td>
Plot the convex set.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@YSet">@YSet</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/contains.html">contains</a></td>
<td>
Test if the point is contained inside convex set YSet.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/display.html">display</a></td>
<td>
Overload display for YSet class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/yset.html">yset</a></td>
<td>
Representation of a convex set using YALMIP constraints.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/project.html">project</a></td>
<td>
Compute the projection of the point onto this set.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/shoot.html">shoot</a></td>
<td>
Compute the maximal value of a multiplier in the desired direction.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@YSet/extreme.html">extreme</a></td>
<td>
Compute an extreme point of this set in the given direction.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@Polyhedron">@Polyhedron</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/invaffinemap.html">invaffinemap</a></td>
<td>
Compute the inverse affine map of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/distance.html">distance</a></td>
<td>
Compute the distance between the given point/polyhedron and this polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/le.html">le</a></td>
<td>
Test if a polyhedron is contained inside polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/intersect.html">intersect</a></td>
<td>
Intersect two polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/outerapprox.html">outerapprox</a></td>
<td>
Computes outer bounding hypercube of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/b.html">b</a></td>
<td>
Get b vector from equality description of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/normalize.html">normalize</a></td>
<td>
Normalizes polyhedron in H-representation.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/uminus.html">uminus</a></td>
<td>
Unitary minus for a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/separate.html">separate</a></td>
<td>
Separate a point/polyhedron from another polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/lt.html">lt</a></td>
<td>
Test if a polyhedron is contained inside polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/ae.html">ae</a></td>
<td>
Get Ae matrix from equality description of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/computehrep.html">computehrep</a></td>
<td>
Compute H-representation of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/volume.html">volume</a></td>
<td>
Compute the volume of the polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/plus.html">plus</a></td>
<td>
Add a Polyhedron and a vector or Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/mldivide.html">mldivide</a></td>
<td>
Set difference between polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/facetinteriorpoints.html">facetinteriorpoints</a></td>
<td>
Compute points that lie on each of the facet of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/getfacet.html">getfacet</a></td>
<td>
Extract facet of the polyhedron specified by the inequality index.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/affinemap.html">affinemap</a></td>
<td>
Compute the affine map of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/minvrep.html">minvrep</a></td>
<td>
Compute an irredundant V-representation of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/ne.html">ne</a></td>
<td>
Test if a polyhedron is not equal to another polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/be.html">be</a></td>
<td>
Get be vector from equality description of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/meshgrid.html">meshgrid</a></td>
<td>
Generate X-Y grid for 2D bounded polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/ge.html">ge</a></td>
<td>
Test if a polyhedron is contained inside polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/minus.html">minus</a></td>
<td>
Subtract a Polyhedron or a vector from a Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/ispointed.html">ispointed</a></td>
<td>
Test if a polyhedron is pointed or not           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/minhrep.html">minhrep</a></td>
<td>
Compute an irredundant H-representation of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isneighbor.html">isneighbor</a></td>
<td>
Test if a polyhedron touches another polyhedron along a given facet.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/contains.html">contains</a></td>
<td>
Test if a polyhedron/point is contained inside polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isadjacent.html">isadjacent</a></td>
<td>
Test if a polyhedron shares a facet with another polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/projection.html">projection</a></td>
<td>
Compute the projection of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isfullspace.html">isfullspace</a></td>
<td>
Test if a polyhedron represents the whole space \mathbb{R}^n.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/display.html">display</a></td>
<td>
Overload display for Polyhedron class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/a.html">a</a></td>
<td>
Get A matrix from inequality description of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/gt.html">gt</a></td>
<td>
Test if a polyhedron is contained inside polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/eq.html">eq</a></td>
<td>
Returns true if the set covered by polyhedra P is the same as the set covered by S and false otherwise.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/project.html">project</a></td>
<td>
Project a point onto the given polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/incidencemap.html">incidencemap</a></td>
<td>
Compute the incidence map of this polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isbounded.html">isbounded</a></td>
<td>
Test if a polyhedron is bounded.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/mtimes.html">mtimes</a></td>
<td>
Multiply two polyhedra, or a polyhedron with a matrix or scalar.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/computevrep.html">computevrep</a></td>
<td>
Compute V-representation of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isfulldim.html">isfulldim</a></td>
<td>
Test if a polyhedron has a non-empty interior.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/shoot.html">shoot</a></td>
<td>
Maximize along a given ray within the polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/fplot.html">fplot</a></td>
<td>
Plot single function over the polyhedron or array of polyhedra.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/polyhedron.html">polyhedron</a></td>
<td>
Create a Polyhedron object.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isemptyset.html">isemptyset</a></td>
<td>
Test if a polyhedron has a non-empty interior.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/interiorpoint.html">interiorpoint</a></td>
<td>
Compute a point in the relative interior of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/chebycenter.html">chebycenter</a></td>
<td>
Compute the Chebyshev centre of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/slice.html">slice</a></td>
<td>
Slice the polyhedron through given dimensions at specified values.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/extreme.html">extreme</a></td>
<td>
Compute extremal point of a polyhedron in a given direction.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/homogenize.html">homogenize</a></td>
<td>
Compute the homogenization of the given Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/affinehull.html">affinehull</a></td>
<td>
Compute the affine hull of the Polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/triangulate.html">triangulate</a></td>
<td>
Triangulation of a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/uplus.html">uplus</a></td>
<td>
Unitary plus for a polyhedron.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/isinside.html">isinside</a></td>
<td>
Test if a point is contained inside polyhedron in H-representation.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/sets/@Polyhedron/plot.html">plot</a></td>
<td>
Plot the polyhedron.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="functions">functions</a></h4>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="300"><h4><a href="#@InfNormFunction">@InfNormFunction</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@Function">@Function</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@OneNormFunction">@OneNormFunction</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@AffFunction">@AffFunction</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@NormFunction">@NormFunction</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@QuadFunction">@QuadFunction</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@InfNormFunction">@InfNormFunction</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2"><tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@InfNormFunction/infnormfunction.html">infnormfunction</a></td>
<td>
Class representing inf-norm function.           </td>
</tr></table>
<p></p>
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<h4 class="categorytitle"><a name="@Function">@Function</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/sethandle.html">sethandle</a></td>
<td>
Assign function handle to existing Function object           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/isemptyfunction.html">isemptyfunction</a></td>
<td>
Test if the object of the Function class contains a function handle.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/display.html">display</a></td>
<td>
Overload display for Function class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/vertcat.html">vertcat</a></td>
<td>
Vertical concatenation for Function class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/horzcat.html">horzcat</a></td>
<td>
Horizontal concatenation for Function class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@Function/function.html">function</a></td>
<td>
Function representation for MPT           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@OneNormFunction">@OneNormFunction</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2"><tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@OneNormFunction/onenormfunction.html">onenormfunction</a></td>
<td>
Class representing 1-norm function.           </td>
</tr></table>
<p></p>
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<h4 class="categorytitle"><a name="@AffFunction">@AffFunction</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@AffFunction/afffunction.html">afffunction</a></td>
<td>
Representation of affine functions in the form F*x + g           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@AffFunction/display.html">display</a></td>
<td>
Overload display for AffFunction class.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@NormFunction">@NormFunction</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2"><tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@NormFunction/normfunction.html">normfunction</a></td>
<td>
Class representing 1- or infinity-norm function.           </td>
</tr></table>
<p></p>
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<h4 class="categorytitle"><a name="@QuadFunction">@QuadFunction</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@QuadFunction/display.html">display</a></td>
<td>
Overload display for QuadFunction class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/geometry/functions/@QuadFunction/quadfunction.html">quadfunction</a></td>
<td>
Representation of quadratic functions in the form x'*H*x + F*x + g           </td>
</tr>
</table>
<p></p>
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<h3 class="categorytitle"><a name="solvers">solvers</a></h3>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_cdd.html">mpt_call_cdd</a></td>
<td>
A gateway function to CDD solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_gurobi.html">mpt_call_gurobi</a></td>
<td>
A gateway function to GUROBI solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_nag.html">mpt_call_nag</a></td>
<td>
A gateway function to the NAG Toolbox LP and QP solvers           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_lcp.html">mpt_call_lcp</a></td>
<td>
A gateway function to LCP solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_mpqp.html">mpt_call_mpqp</a></td>
<td>
A gateway function to MPQP solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_clp.html">mpt_call_clp</a></td>
<td>
A gateway function to CLP solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_qpoases.html">mpt_call_qpoases</a></td>
<td>
A gateway function to QPoases solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_solve.html">mpt_solve</a></td>
<td>
A gateway function to solve non-parametric optimization problems (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_mplp.html">mpt_call_mplp</a></td>
<td>
A gateway function to MPLP solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_plcp.html">mpt_call_plcp</a></td>
<td>
A gateway function to PLCP solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_qpspline.html">mpt_call_qpspline</a></td>
<td>
A gateway function to QPspline solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_linprog.html">mpt_call_linprog</a></td>
<td>
A gateway function to LINPROG solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_sedumi.html">mpt_call_sedumi</a></td>
<td>
A gateway function to SEDUMI solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_glpk.html">mpt_call_glpk</a></td>
<td>
A gateway function to GLPK solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_detect_solvers.html">mpt_detect_solvers</a></td>
<td>
Searches for installed solvers on the path.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_plcp.html">mpt_plcp</a></td>
<td>
Parametric linear complementarity solver (PLCP) (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_qpc.html">mpt_call_qpc</a></td>
<td>
A gateway function to QPC solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_solvers_options.html">mpt_solvers_options</a></td>
<td>
Global option settings for solvers.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_cplex.html">mpt_call_cplex</a></td>
<td>
A gateway function to CPLEX solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_solvemp.html">mpt_solvemp</a></td>
<td>
A gateway function to solve parametric optimization problems (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/mpt_call_quadprog.html">mpt_call_quadprog</a></td>
<td>
A gateway function to QUADPROG solver (without errorchecks)           </td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@Opt">@Opt</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@Opt">@Opt</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/qp2lcp.html">qp2lcp</a></td>
<td>
Transforms LP/QP/MPLP/MPQP to LPC/PLCP           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/eliminateequations.html">eliminateequations</a></td>
<td>
Reduce LP/QP/MPLP/MPQP by removing equality constraints           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/opt.html">opt</a></td>
<td>
Interface for solving optimization problems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/display.html">display</a></td>
<td>
Overload display for Opt class.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/solve.html">solve</a></td>
<td>
The main routine for solving optimization problems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/feasibleset.html">feasibleset</a></td>
<td>
Computes the feasible set of a given parametric problem.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/solvers/@Opt/copy.html">copy</a></td>
<td>
Creates a copy of the optimization problem given as Opt object.           </td>
</tr>
</table>
<p></p>
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<h3 class="categorytitle"><a name="ui">ui</a></h3>
<table border="0" cellpadding="5" class="categorylist">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/mpt_import.html">mpt_import</a></td>
<td>
Converts sysStruct and probStruct into an MPT3 prediction model           </td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@MinTimeController">@MinTimeController</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@MPCController">@MPCController</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#utils">utils</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@SystemSignal">@SystemSignal</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@AbstractSystem">@AbstractSystem</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@LTISystem">@LTISystem</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@PWASystem">@PWASystem</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@EMPCController">@EMPCController</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@MLDSystem">@MLDSystem</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@AbstractController">@AbstractController</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@ClosedLoop">@ClosedLoop</a></h4></td>
<td></td>
</tr>
<tr valign="top">
<td width="300"><h4><a href="#@EMinTimeController">@EMinTimeController</a></h4></td>
<td></td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@MinTimeController">@MinTimeController</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MinTimeController/mintimecontroller.html">mintimecontroller</a></td>
<td>
Implicit minimum-time MPC controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MinTimeController/evaluate.html">evaluate</a></td>
<td>
Returns the optimal control action           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@MPCController">@MPCController</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MPCController/fromyalmip.html">fromyalmip</a></td>
<td>
Converts a custom YALMIP setup to a controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MPCController/toexplicit.html">toexplicit</a></td>
<td>
Computes the explicit solution to the MPC optimization problem           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MPCController/evaluate.html">evaluate</a></td>
<td>
Returns the optimal control action           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MPCController/mpccontroller.html">mpccontroller</a></td>
<td>
MPC controller with on-line optimization           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MPCController/toyalmip.html">toyalmip</a></td>
<td>
Converts an MPC problem into YALMIP's constraints and objective           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="utils">utils</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2"><tr valign="top">
<td width="150"><a href="mpt/modules/ui/utils/mpt_mpsol2pu.html">mpt_mpsol2pu</a></td>
<td>
Converts a parametric solution generated by solvemp to a PolyUnion object           </td>
</tr></table>
<p></p>
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<h4 class="categorytitle"><a name="@SystemSignal">@SystemSignal</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_deltamin.html">filter_deltamin</a></td>
<td>
Lower bound on the increment of a signal           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_min.html">filter_min</a></td>
<td>
Lower bound on a signal           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_deltapenalty.html">filter_deltapenalty</a></td>
<td>
Penalizes the increment of a signal           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_terminalpenalty.html">filter_terminalpenalty</a></td>
<td>
Penalizes the final predicted state in the MPC problem           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/systemsignal.html">systemsignal</a></td>
<td>
Class representing variables of a dynamical system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_deltamax.html">filter_deltamax</a></td>
<td>
Upper bound on the increment of a signal           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_binary.html">filter_binary</a></td>
<td>
Constraints variable to be binary (0/1)           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_penalty.html">filter_penalty</a></td>
<td>
Penalizes the signal in the MPC cost function           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_softmax.html">filter_softmax</a></td>
<td>
Soft upper bound constraint           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_max.html">filter_max</a></td>
<td>
Upper bound on a signal           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_terminalset.html">filter_terminalset</a></td>
<td>
Adds a polyhedral constraint on the final predicted state           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_block.html">filter_block</a></td>
<td>
Adds a move blocking constraint           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_softmin.html">filter_softmin</a></td>
<td>
Soft lower bound constraint           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_setconstraint.html">filter_setconstraint</a></td>
<td>
Adds a polyhedral constraint           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@SystemSignal/filter_reference.html">filter_reference</a></td>
<td>
Penalizes difference of a signal from a given reference level           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@AbstractSystem">@AbstractSystem</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractSystem/output.html">output</a></td>
<td>
Returns value of the output variables           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractSystem/initialize.html">initialize</a></td>
<td>
Sets the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractSystem/update.html">update</a></td>
<td>
Updates the internal state using the state-update equation           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractSystem/simulate.html">simulate</a></td>
<td>
Simulates evolution of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractSystem/getstates.html">getstates</a></td>
<td>
Returns the internal state of the system           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@LTISystem">@LTISystem</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/output.html">output</a></td>
<td>
Returns value of the output variables           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/initialize.html">initialize</a></td>
<td>
Sets the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/setdomain.html">setdomain</a></td>
<td>
Sets the domain of an LTI system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/lqrgain.html">lqrgain</a></td>
<td>
Linear-quadratic regulator design for LTI systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/invariantset.html">invariantset</a></td>
<td>
Computation of invariant sets for linear systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/reachableset.html">reachableset</a></td>
<td>
Computes forward or backwards reachable sets           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/update.html">update</a></td>
<td>
Updates the internal state using the state-update equation           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/ltisystem.html">ltisystem</a></td>
<td>
Represents linear time-invariant systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/simulate.html">simulate</a></td>
<td>
Simulates evolution of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/lqrset.html">lqrset</a></td>
<td>
Computes an invariant subset of an LQR controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/getstates.html">getstates</a></td>
<td>
Returns the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@LTISystem/lqrpenalty.html">lqrpenalty</a></td>
<td>
Linear-quadratic regulator design for LTI systems           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@PWASystem">@PWASystem</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/output.html">output</a></td>
<td>
Returns value of the output variables           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/initialize.html">initialize</a></td>
<td>
Sets the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/invariantset.html">invariantset</a></td>
<td>
Computation of invariant sets for PWA systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/reachableset.html">reachableset</a></td>
<td>
Computes forward or backwards reachable sets           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/update.html">update</a></td>
<td>
Updates the internal state using the state-update equation           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/simulate.html">simulate</a></td>
<td>
Simulates evolution of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/tolti.html">tolti</a></td>
<td>
Converts the i-th mode of a PWA system to an LTI system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/getstates.html">getstates</a></td>
<td>
Returns the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@PWASystem/pwasystem.html">pwasystem</a></td>
<td>
Represents discrete-time piecewise affine systems           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@EMPCController">@EMPCController</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@EMPCController/empccontroller.html">empccontroller</a></td>
<td>
Explicit MPC controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@EMPCController/exporttoc.html">exporttoc</a></td>
<td>
Export the explicit controller to C-code           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@EMPCController/evaluate.html">evaluate</a></td>
<td>
Returns the optimal control action           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@MLDSystem">@MLDSystem</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/output.html">output</a></td>
<td>
Returns value of the output variables           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/initialize.html">initialize</a></td>
<td>
Sets the internal state of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/update.html">update</a></td>
<td>
Updates the internal state using the state-update equation           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/simulate.html">simulate</a></td>
<td>
Simulates evolution of the system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/topwa.html">topwa</a></td>
<td>
Converts the MLD model into an equivalent PWA form           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/mldsystem.html">mldsystem</a></td>
<td>
Represents mixed logical dynamical systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@MLDSystem/getstates.html">getstates</a></td>
<td>
Returns the internal state of the system           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@AbstractController">@AbstractController</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractController/fromyalmip.html">fromyalmip</a></td>
<td>
Converts a custom YALMIP setup to a controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@AbstractController/toyalmip.html">toyalmip</a></td>
<td>
Converts an MPC problem into YALMIP's constraints and objective           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@ClosedLoop">@ClosedLoop</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@ClosedLoop/invariantset.html">invariantset</a></td>
<td>
Computes the invariant subset of the closed-loop system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@ClosedLoop/tosystem.html">tosystem</a></td>
<td>
Converts the closed-loop object to an autonomous dynamical system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@ClosedLoop/closedloop.html">closedloop</a></td>
<td>
Create a closed-loop system.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@ClosedLoop/simulate.html">simulate</a></td>
<td>
Simulates the closed-loop system.           </td>
</tr>
</table>
<p></p>
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<h4 class="categorytitle"><a name="@EMinTimeController">@EMinTimeController</a></h4>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@EMinTimeController/emintimecontroller.html">emintimecontroller</a></td>
<td>
Explicit minimum-time MPC controller           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/modules/ui/@EMinTimeController/evaluate.html">evaluate</a></td>
<td>
Returns the optimal control action           </td>
</tr>
</table>
<p></p>
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<h2 class="categorytitle"><a name="demos">demos</a></h2>
<table cellspacing="0" width="100%" border="0" cellpadding="2">
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_functions1.html">mpt_demo_functions1</a></td>
<td>
Demonstration of functions associated to sets           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_deployment_onlinempc.html">mpt_demo_deployment_onlinempc</a></td>
<td>
Application of online MPC controller with the help of Simulink interface           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_deployment_explicitmpctracking.html">mpt_demo_deployment_explicitmpctracking</a></td>
<td>
Application of tracking explicit MPC controller with the help of Simulink interface           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_lti2.html">mpt_demo_lti2</a></td>
<td>
Demonstrates online MPC for LTI system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_functions2.html">mpt_demo_functions2</a></td>
<td>
Demonstration of functions over unions of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_lti4.html">mpt_demo_lti4</a></td>
<td>
Construction of explicit controller for LTI system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_sets2.html">mpt_demo_sets2</a></td>
<td>
Construction and basic properties of sets created in Yalmip           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_lti5.html">mpt_demo_lti5</a></td>
<td>
Demostration of problem formulation using additional properties.           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_opt1.html">mpt_demo_opt1</a></td>
<td>
Demonstration for using Opt interface           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_sets1.html">mpt_demo_sets1</a></td>
<td>
Demonstrates construction and basic properties of the Polyhedron object           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_pwa1.html">mpt_demo_pwa1</a></td>
<td>
Demonstration for modeling PWA systems           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_lti3.html">mpt_demo_lti3</a></td>
<td>
Demonstrates simulation of the closed-loop system           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_deployment_explicitmpc.html">mpt_demo_deployment_explicitmpc</a></td>
<td>
Application of explicit MPC controller with the help of Simulink interface           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_unions1.html">mpt_demo_unions1</a></td>
<td>
Demo that illustrates working with unions of convex sets           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_lti1.html">mpt_demo_lti1</a></td>
<td>
Simulation of LTISystem           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo2.html">mpt_demo2</a></td>
<td>
Tour through visualization capabilities of the toolbox           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo1.html">mpt_demo1</a></td>
<td>
Demonstration of basic usage of the geometric library           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_unions2.html">mpt_demo_unions2</a></td>
<td>
Demo that illustrates working with unions of polyhedra           </td>
</tr>
<tr valign="top">
<td width="150"><a href="mpt/demos/mpt_demo_sets3.html">mpt_demo_sets3</a></td>
<td>
Demo that illustrates operations on polyhedra           </td>
</tr>
</table>
<p></p>
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